ubuntu@ubuntu-armhf:~$ sudo bash
root@ubuntu-armhf:~# cd /lib/firmware/    
root@ubuntu-armhf:/lib/firmware# cat bone_eqep2alt.dts 
/*
 * Copyright (C) 2013 Nathaniel R. Lewis - http://teknoman117.wordpress.com/
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 * 
 * Enable eQEP2 on the Beaglebone White and Black
 */
/dts-v1/;
/plugin/;

/ {
    compatible = "ti,beaglebone", "ti,beaglebone-black";

    /* identification */
    part-number = "bone_eqep2";
    version     = "00A0";

    fragment@0 {
        target = <&am33xx_pinmux>;
        __overlay__ {
            pinctrl_eqep2: pinctrl_eqep2_pins {
                pinctrl-single,pins = <					 				   
                        0x038 0x24  /* P8_16 = GPIO2_14 = EQEP2_index, MODE4 */
                        0x03C 0x24  /* P8_15 = GPIO2_15 = EQEP2_strobe, MODE4 */
                        0x030 0x34  /* P8_12 = GPIO2_12 = EQEP2A_in, MODE4 */
                        0x034 0x34  /* P8_11 = GPIO2_13 = EQEP2B_in, MODE4 */
                >;
            };
        };
    };
    
    fragment@1 {
        target = <&epwmss2>;
        __overlay__ {
            status = "okay";
        };
    };
    
    fragment@2 {
    	target = <&eqep2>;
    	__overlay__ {
            pinctrl-names = "default";
            pinctrl-0 = <&pinctrl_eqep2>;
            
            count_mode = <0>;  /* 0 - Quadrature mode, normal 90 phase offset cha & chb.  1 - Direction mode.  cha input = clock, chb input = direction */
            swap_inputs = <0>; /* Are channel A and channel B swapped? (0 - no, 1 - yes) */
            invert_qa = <1>;   /* Should we invert the channel A input?  */
            invert_qb = <1>;   /* Should we invert the channel B input? I invert these because my encoder outputs drive transistors that pull down the pins */
            invert_qi = <0>;   /* Should we invert the index input? */
            invert_qs = <0>;   /* Should we invert the strobe input? */
            
	        status = "okay";
    	};
    };
};
root@ubuntu-armhf:/lib/firmware# echo bone_eqep2alt > $SLOTS
root@ubuntu-armhf:/lib/firmware# cat $SLOTS
 0: 54:PF--- 
 1: 55:PF--- 
 2: 56:PF--- 
 3: 57:PF--- 
 4: ff:P-O-L Bone-LT-eMMC-2G,00A0,Texas Instrument,BB-BONE-EMMC-2G
 5: ff:P-O-L Bone-Black-HDMI,00A0,Texas Instrument,BB-BONELT-HDMI
 7: ff:P-O-L Override Board Name,00A0,Override Manuf,bone_eqep2alt
root@ubuntu-armhf:/lib/firmware# cat $PINS | grep 834
pin 13 (44e10834) 00000034 pinctrl-single 
root@ubuntu-armhf:/lib/firmware# cat $PINS | grep 830
pin 12 (44e10830) 00000034 pinctrl-single 
root@ubuntu-armhf:/lib/firmware# cd /sys/devices/ocp.3/48304000.epwmss/48304180.eqep/
root@ubuntu-armhf:/sys/devices/ocp.3/48304000.epwmss/48304180.eqep# ls
driver  enabled  modalias  mode  period  position  power  subsystem  uevent
root@ubuntu-armhf:/sys/devices/ocp.3/48304000.epwmss/48304180.eqep# cat enabled 
1
root@ubuntu-armhf:/sys/devices/ocp.3/48304000.epwmss/48304180.eqep# cat mode 
0
root@ubuntu-armhf:/sys/devices/ocp.3/48304000.epwmss/48304180.eqep# cat period 
1000000000
root@ubuntu-armhf:/sys/devices/ocp.3/48304000.epwmss/48304180.eqep/power# cd ..
root@ubuntu-armhf:/sys/devices/ocp.3/48304000.epwmss/48304180.eqep# while [[ 1 ]] 
> do
> cat position 
> sleep 1 
> done
0
0
0
1
1
1
2
4
5
7
10
14